{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "读取数据"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import matplotlib.pylab as plt"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "(time_stamp,q0,q1,q2,q3) = np.loadtxt(open(\"d:\\\\flightdata\\\\newfile\\\\log_301_2020-3-12-14-34-46_vehicle_attitude_0.csv\",\"rb\"),skiprows=2,delimiter=\",\",usecols=(0,4, 5, 6, 7),unpack=True)\n",
    "roll = np.arctan2(2*(q0*q1+q2*q3),1-2*(q1*q1+q2*q2))\n",
    "pitch = np.arcsin(2*(q0*q2-q1*q3))\n",
    "yaw = np.arctan2(2*(q0*q3+q1*q2),1-2*(q2*q2+q3*q3))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 28,
   "metadata": {},
   "outputs": [],
   "source": [
    "(time_stamp_sp,roll_sp,pitch_sp,yaw_sp) = np.loadtxt(open(\"d:\\\\flightdata\\\\newfile\\\\log_301_2020-3-12-14-34-46_vehicle_attitude_setpoint_0.csv\",\"rb\"),skiprows=2,delimiter=\",\",usecols=(0, 1, 2, 3),unpack=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {},
   "outputs": [],
   "source": [
    "ref_time=(time_stamp-time_stamp[28941])/1000000\n",
    "ref_time_sp=(time_stamp_sp-time_stamp_sp[9073])/1000000"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 30,
   "metadata": {},
   "outputs": [],
   "source": [
    "a=42537\n",
    "a_=49557\n",
    "b=13313\n",
    "b_=15500"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 31,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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1kO1pBAm3kkwnXC67qqxSfYQmiiQWCIDLBLuUKAaMzmbb9rSYnN8YuO46SE2Fk06CPfeEhQth0yabLEaNsqOHeqKaGshx13fvyS63JgrVp2iiSGKBQKhG0YXO7MFDJCarnDY02C0ZXn7ZThmo3bCd637YSFERfPb0KvYbVsmwYUS0oVIilZfbfbA3bw4daKfTuao8QG56Nz/sXdr0pPoW3TczidmmJ3+XahQZGdAUjLx8e846C95/335xTksDDjsJJk2Cs88me+pU7gYCfkNKit3z5/rroz5lt/n9dsnwZ5+Fl16yk+l+/3sILFmKa9JEWzVqY/M39Qw8qJszq90uTGNT2OWPleqNNFEksZ1NT11ZwgMwRkKTMLr3Ufaf/8CKFbZvwuPBTi6rroZ162Dq1J3l3AEvddVuph/p5qSTYO+9u3W6bquogMLCXfePOw7euuQpUoLN3PGPYgZMOpANpNN2c9i994aaslRc3xnUrfOmpLnwN/mJPh0r1TNo01MS606NAsCdIvhrujd80++3TU7nnx9KEvX1dqOLpUvt13WA737X/j7nHDJHFXPLLbYPY37btX/jbNAguPJKuO8+u3bTv/8NKf96HC6+mP/35nGMYB1vc9Ruz1u5Eq4Z8YJ9gW5ITXfR3KBLuau+QxNFEutOZzbAoP4NbF3VvRVk77oLZs607fx89RWcfjrMng133rmr0J/+BHffDc89B6edxonbH+P11+GKKxI3GuqDD2DkSLjr8pVclv806WnGHpw/3wYxfz53Ft/GUibs9twTjmrg+s/OiCJRuPE2aqJQfYc2PSWxYBDcxt/lpqchBc2Uft3AkJKune+CC+Dhh1v0/55/PmzbZr+qjx0Lp51mHxwyBMaNs9WPiy+GyZMZtXkGqakDmTHD5pGW21DH2vr1dpjuSy+Ba59Qe9fvfw+ffgqPPgrjx8P+++PKeQ6zNUwznM9n+xe6mSjS0gVvoAtLvyvVw2miSGK2RtG1eRQAQ4t9bFjdzEFdeM7NN9sksWgR9OsHfPMNTJgAf/tbixceuuv2tGnw1ls2I9x6K5x2Gt/8+ae86D+BkhL47DPb9x2VxkbbWXLAATsPlZbCiBHw0Udw0KRme23eeMP24r/4InznO5CVBYDc+Se4+rlQxm3xwe4NrYXV3RpFKjTHYMCAUj2Fo01PInKciKwUkdUiMreDcpNFJCAi301kfE7rbo1i1Jb/svbmByMu//XXdpjr//4Hk0sMbNkCv/gFHH98+09KT4ejjrLf1M8/3356X3wxp4z+kiVL7Lp5Q4eGHXC0m+Zmm3N2DmkNWfv8Z9xz4N+prt5VKRg2zIZ10BRje93nzrWdKlOmwG9+szNJAJCbi0lN231r2IAffvvb1mW7IC0NvEH9jqX6DscShYi4gXuAWcA+wBkisk875X6P3QmvT+lujWL0X3/C6kHTIy4/b55NElOmYNuNBg2Cxx+3fRORGD7clv/Tn2DCBPb72YksX263l3a54MYbbS1l330Ny257aefTtm61H/7p6bYycM45to/k669t3hl11iE8zffJzbWvAzaZvHLvOnuuY46Bs89uNywRMC5Xq0QRCIArGLAZp5u0RqH6GidrFFOA1caYb40xXuBJ4JQw5a4CngW2xT2itWuTasZtIBCqUXS16WlcNhuDAyOaFPb667B6NZSUYMebfvihfaC+vuvDa/fYw/5+5RXG1X1MdbXt3njzTftyB+3v5ZAbp/OLmwyLF8OJJ8LsKZtYNmEOf77Dy/OH38nChbY7pK4O3v7hv3iPI6itDvLll3aE7sCFz9he7B//2I6+2muvdsMRAcRl+1JCtm+HvPRG21TVTWlpmihU3+JkohgCbGhxvzR0bCcRGQKcCrTaHjUcEblERBaLyOKysrLuRXT//bBqVfeeGwfBILi60fTkckEwPct+pe+AMfB//wdPPBH6xn7bbXbW2s03d2+xvJEjd92eMoWcc07huKO8fPwxmGHDefD6rziNZ/nVr4XJk2HxYnj20tfZZ+lT8PzzZP/iWv71cD3G2Jx1pLwLQL9H72Xfd/5CTlZg11TwVavg6ac7Dcm43K1qFJWVkJ9WH1WiSE0Fr9GmJ9V3OJkown1dbduifSdwgzGm07GIxph5xpgSY0xJUVFR9yIqKrLLoyaJ7tYoAFKyUvCu6ThRrFxp12vKyMC277/yil12+xe/6F7AhYW2Seejj+xiUPPnw+TJ9tv/hg0waxYPHjQPc/dfeD37NOprg7gqQtd7zhz7wT91qp0W/sUX9mfTJttZfvPNcNhh8KMf2c7rPffstMYjAqZNjaKyEvJT66KvUQS0RqH6Die/FpUCLRuKhwKb2pQpAZ4U+4FQCBwvIn5jzAtxiSgZE0Ww6zUKgJHDgqxdsp29jm6/zGefhfolwFYtxo2Lbi9oETt2FeyH+d132w//Dz6wxzZvtuuCXH01M2tfgbk/gn/8A/76V1tD+N73bLvT++/DfvvZKdSDBtkFnFatss2C48d3KRxcsnuNIqUGMvK6/WempYHXaKJQfYeTieJjYIyIjAI2AnOAM1sWMMaM2nFbRB4GXo5bkgCbKL75Jm4v31V+P6SIv1tLcew51s2qZV7aa8GvrYU//hFefRV48EE4+GBbo4ilq66yP5s3257qhQth9Gj48ks7dvbDD+0yrnPmQE6Ofc7EifZn9mwYPNge++ADW4PoBiMu24YXUlkJ+e4ayBjc7T/LdmZr05PqOxxrejLG+IErsaOZVgBPG2OWichlInKZI0ElWY3C5wOPdG8G8MFHpfP+F/3bffy22+AHP7B7bHPhhbaJKF4GDbJjWnckvCuusBP1PvvMzvjekSRaGjJkV/lDDunWaUXAECZRuLbHoDM7tdXrKtWbOfq1yBizAFjQ5ljYjmtjzPlxD2jAADsTOUn4fJDi6l6i2H9mET+9pCLsY3fdBc88Yz+n2bLFJopbbul+oJEYMmTXB/7119sRWVdcYfsc4kmk1Qd6RQXkURV9Z7Ynw/4NUbyOUj2FrvXUUhLWKLqbKFyZ6QxKLd9t4FNDg+1jXrEiNLDp2293DWuNp9NPt+Nkd0hLs9Osu7nCbSR2dma36KP4179gdOqG6GsUrsykGkqtVDxpomgpIyOp/vP7fKE+im46tuATLr20dQvJP/9pP7NdLuzieYce2npYazy1TQpDhoQvF8vTtalRjBoFBas+gv7tN8t1xiaK5HqvKBVP2iOXxKKpUQCcPnUdZ/7VLnNUV2fXy7v88tDn22OP2SUwAMaMiU3ASahlZ3YwCIKxiwd2Y8jxDqmp4HWna6JQfYYmihZefBGmNOXRvaXiYm/nqKducu2/H75n5/PAtpPtQn/AmjWhHeuuv972TzQ22jU0eiHbmb2rRlFRAQWptXYkVhTS0qBZtEah+g5temph+XL4pnHw7ovIOcTnA08UNQrGjcPz9XIuu8x+VhrTopVp4kQ7sa6XJglo0fQU+vfcvBkGZtVCcXFUr5uVBfVG+yhU36GJooXiYtiaOsyOoUwCto8iukSxYwJdq+6Bxx+3M7BvvTW6AHuAlk1PlZVQkFpjd+yLQv/+UO3PSs5E8dlnTkegeiFNFC0UF8NWz5CkGSIbbWc2RUXw9tt2sttvfrPr+AsvwL33Rh9gkts56imUKOrrIStYB7m5Ub1u//5Q7cu0zXZJ5IQT4LkDfpW4bQZVn6F9FC0MHAiLKE6aIbLRdmYDcMcdcMYZ9vacOXa4U21t1B+WPUHbUU/19ZDlr45JjWK7L8uONU4Szc3w6aeGyUzkO2VlcR9RpvoWrVG0UFwMW/0FyZUooqlRgE0ODz1kb++5p50zsXOBp97PsKuPYmeiiDJJpqWBl1Q7lCxJbNoEe4/200S6/UOViiGtUbQwYABsa+6fNInC749BjQLsDnS1tXa/jVtv7fbObj1N26anhgYY6K2CvH2jf3GPu8Xm4s7btAlGFdbaRJFECUz1DpooWkhNBa8rPWkSRTRrPe0myiGhPVHYpqemiqibngBwe5LqA7m8HIb1q2RrVmFSxaV6h4gShYi4gP2AwUAjsMwYszWegTkmNTWpEkVMahR9mGmbKBrLY9I/Ix53Un0ge73QP1jFun4F2vSkYq7DRCEio4EbgBnAKqAMSAf2EpEG4K/AI8aY3rOMZmqqnZmVBGLSR9GH7Vw9NtRHUVMDOaY6NOMwSp7kqlH4fJDtq6QpIx/q1jsdjuplOqtR/Bq4D7jUGNNq9zkRGYDdP+Ic4JH4hJd4Wf3d1FX56Od0IIDPa7RGEa0WNYqaGshJic2Q1rRMN03bm0iW6YpeL2Q3ldOUPiKpEpjqHTpMFMaYMzp4bBt2q9JeZeBAYeu23ORIFM3BaJYk6vPadmbX1ECOJzZDWvvnu6muCiZNovD5IK+pikCazhhXsddZ09N3OnrcGPNcNCcXkeOAuwA38IAx5rY2j5+FbfoCqAN+aIz5PJpzdqa4GLY25zI6nieJkN+riSIaLdd6uvFGuwfH0yfEZjJa/wIP1SsM0S0GEjs+H6QEmmwnu064UzHWWdPTSaHfA4BDgLdD948E3gW6nShExA3cA8zE7p/9sYjMN8a03LR5DXC4MaZKRGYB84CDunvOSBQXw1Zvnl0YKY57JUTC1xzEk6pTXaISWutpx2R7ccXm37R/vpvtDakxea1YsImi0fadaKJQMdbhp5Ax5gJjzAWAAfYxxpxmjDkNiMFAdKYAq40x3xpjvMCTwCltzv+hMaYqdPcjYGgMztuh4mLYkjLMjjd0mM9rSEl1Nln1ZLbpydYovF5Y9UlNVPtQtLRzGY8kYRNFs53f4fM5HY7qZSL9ujrSGLO5xf2twF5RnnsIsKHF/dLQsfZcCPy7vQdF5BIRWSwii8uiGN5aXAxb04bbyWkOa2oMkpHWewaUJVrLeRRVVTB680L7jTsGdi4MmCS8Xkg1zXbzEa1RqBiLNFG8KyKvicj5InIe8ArwTpTnDvdV2YQ5hogciU0UN4R7HMAYM88YU2KMKSkqKup2UIMHwyYGJ0WiaKiHzIywl0RFyLCrM1uuvQYOOywmr5uUNQrx2857TRQqxiL6emWMuTLUsb3jf9k8Y8zzUZ67FBjW4v5QYFPbQiIyEXgAmGWMifsEh0GDYLO3IDkSRYPRGkUUdjY9BQK2z2mvveAHP4jJa+fmwtokqlHsnHOjiULFQcT18NAIp6hGObXxMTBGREYBG4E52HkZO4nI8NA5zzHGfB3Dc7fL5QKTkWG3gnNYMGBwp+kqK93VagkPbzOMGBiz17ZNT0lWo3AH7RtYE4WKsYiankRkqoh8LCJ1IuIVkYCI1ERzYmOMH7gSeA1YATxtjFkmIpeJyGWhYr8ACoB7RWSJiCyO5pwRS0/HbChNyKk6FDRR7e2sWjQ9+fwx68iGUKIIZCdNx/HOGoUmirCMgdRUY2+oLou0j+IvwBnYZTwygIuAu6M9uTFmgTFmL2PMaGPMb0LH7jfG3B+6fZExJs8YMyn0UxLtOSNRWOSirDEJptwF/H1mpdd4EIGqxjS7bUTAD9nZMXvt/v2hmv5Js4Ks1wupLj8ujxBsTo7klUwqKsDnE7iz180RToiuND2tFhG3MSYAPCQiH8YxLkeNGAHrVhczwOm5FP4AZCZP80ZPIwIPLxzD6vJc8vN9kJMTs9fu3x+qTY5NFPn5MXvd7tpRo0jPEJobg2Q4HVCS2bSj97MmqoaQPivSGkWDiKQCS0TkdhG5Fui1X3VHjIB1qWNgyxZnA4nxt+C+avWWfqSLN6bXMjUVvJKWNDWKHSsNp2W4dAWPMDbvGNyfoSm0OyJNFOeEyl4J1GNHK50Wr6CcNmIErMvYG1audDaQqu1QUOBsDD3Yjspgk9dNGk2xT7oeT3IlCvGTmu7C16wj5dramSj8uhpzd3Ta9BRaauM3xpizgSbg1rhH5bA99oBnvcNgw0eOxmG2bYN9YzEJvm9r9rtIpymmTU9A0iWKVJef1DQXzT5d9qWtzZshV7brXh3d1Ok7KtQnURRqeuoThg+H9Q0FsGFD54XjxOcDT2aa3edadcuuGoWLtEBjr65ReL226Sk1FbxBHVLd1uZNhoEpFZoouinSd9Ra4AMRmY9tegLAGPPHeENDo6sAACAASURBVATlNLcbgqkZsN65DWDKy6EwZbsOj43CjkRhcJG2fSvkxHipMI8HU1MbdomBRPP5IAUfaWmaKMLZvDHAoIztduN01WWRvqM2hX5cQJ/oXe1XmEbd+krH9qUoK4OiVB2hEStZzZWQPS6mr5mRJTRV1CfHCCNjELeL1athn/fuwzQ1QXqy7JbhvIZqvx1prjWKbol0CY9e3y/R1l5jXXz9LzcHODRE1iaK6oSftzdp+c+W2VwF/WKb9vvnuane0pgkiSIIaWlUhJZT33LpzQx85PfOxpREXAEvJj1DE0U3ddhHISLzRGRCO49licgPQpsL9Tpjx8LKjEmwerUj59dEEb2WiSKruTLmkxf7F3qoLkuSWdCBIKSmIgJZ1HHNM4fCyy87HVXSMF4frrQUgj7dWrg7OuvMvhe4SURWiMi/ROReEXlQRN4HPsQ2Qz0T9ygdMG4cLB86E7780pHzl5cFKUrTpqdYGd68KuZj6PsPSEueRGFsogA4iZfIbChj1fm/cTioJOLzk5LuwWe0/6Y7Otu4aIkx5vvAZOxudO8D84GLjDH7GWPuMsY0JyDOhJs4ET6vHglLlzpy/rJSL0X5OuY7Gi1rFBP8n9l1kGKo/4B0tlcmyZyFoG162vE3n8jLvOs/tNOnlZbCoYfC3VEvyJPkfD5S0t34gzp0uDsiumrGmDpjzLvGmCeMMS8YYxyeiRZ/qangz8gh+OXyzgvHQdkmH0VFyTCepudqmSjyfNti/vr981xU+5Kih8ImitRdI9gzaaA5I7fTp/3sZzZJvPyyXY29N/L7wR1oxpORwsT3/8KaNXa1+R/8YOdWJdx9N3z1Ffz3v3DyyfD44528YB+j6bUD4yZ4WL7FmXV8yrYEKByo1eRYyQ5UdV6oi+zmRcmxko0JGEhN5cwz4ZR7jyUFH76sjhPFm2/aZar2z13Dwcse4KNnNyYo2sSqr4d+Uk9KZgrfNgzivfegudkmxu9+F6qq4Omn4brr4Fe/goeH/IwHf1kaforMhx/abTD7GE0UHTjkEFhYN8mRkRK11QEyi/vESOS4aVmjcBP7JqKk2g411PR08cUw54f5ePDjS+l4QcnbboNbbwWWLGFC/kZWPft5YmJNsPp66GdqSclKpTBlOx/c8gbbtxsevm0LLpfhsMPgrLNgwQJY8Gg5+euXcLTnXT57sfU8KmPg+EuGUFuZJP1SCaSJogPHHgvzG2bAiy8m7qTbttF86hzSln1m92VV3RbvUc25uaHtUJNhj4M2TU8pD9yPz5MBdXXtFs/ICK1qsnkzA2YfwravYl/rSgZ1ddAvUIMnM5VB7m2sXxeEsjJk3N48XvInbr01tPHh9u1wwglw/fVMPGcSS59oPZClvBz+vWwE/9nzwqTZhyRROhse+5KIzG/vJ9qTi8hxIrJSRFaLyNwwj4uI/Dn0+BcickC05+yKfv1g5CGD+fK38+27JBEqK/nihW/Yt2GR3ZdVJa3+/eFXq89wfLZvZSXUVPpbTbBLmTgOf1Z/2Lo17HO83hZ5ZdMmBhwwlK3VUU7QCwYdGyXYEZsoqknpl4rfD/nD+1G6pAJ+/nNS33iF0072keoOwOmnwx//CEccwdhT92Hl0tbjdFYsCzK7aCH/LTzJdmj0IZ3VKO4A/q+Dn24LLTZ4DzAL2Ac4Q0T2aVNsFjAm9HMJcF805+yOS69O569FP4OFCxPzzdHr5R6u4KxjymH8+PifrxeLd41ix4Z5jz/o7Lrexx0H768obDX8NyUFfBk57S6V39zcIq9s2sSAcQVsk+LovhAtWAATJrRYqjU51NVBlquRtHQXTYEUbp7zNT/13QKzZsHs2fD887BihY192jQARu7hYk1gODMPbWTL9O9TWQk3/3Arvz1zGUt9e8MLLzj7RyVYh72lxpj34njuKcBqY8y3ACLyJHAK0HKY0SnAo8YYA3wkIrkiMsgYk7B34n77warAHjScOpVMGuKeLJ57NROGDmXff58b8+GcfZWb+IxS2ZEotqyPvM26qcl+nr/9Nhx5ZGziWLvWMIVFrZpDUlLAl54NW1aFfU5zM6Slhe6UlZG7ZyHbM2rhiy/gqKPs8YoKm03am6hYX2//mB3v0y++gLvugh//uJNhQ4lVVx2gn9Tj6w81Jpu994a9vY/ZizRsGOy/v425ZNcGmh4PbE8dwMIPMvgQP1z2JGcEShl3xzU0zxLM4k+SYo2vROkwUYjIUiDcJ6MAxhgzMYpzDwFaLs9aChwUQZkhQEK/spx+QRb/3HILF6/6SdzPddcTRbx20bPgmhH3c/V2Oz4Iv2F0XF4/JQXeufAxPtkwFui8mbCmxiaXieN81Fx5Myz7bdQx+P1w0KRmXnpjKtTdsvN4v37w/Od7sPy76+CgMigqavW8piY7VwjYuU6UyciE9etpbobvn+Yn8J9lSG01lJRginf9fSJAUyO+d//LAccUccBpI/lgaX++eGo26fuO5pqvv2Dmxx/D5MlR/32xsHbBMvpN3IPcUTB+SiZ8//u7FtvMybFJ4v/9v92azbIKMjh7wxPcPPKfZH9Wy7ybN4HHw/j94IgHf8Xf9zqePb9eYPs2cneNMPP54JTUBbgJjTcuLLL/8NnZ9k3pdtmL6HbbT1eXgLhswnWJfczltr+F0GMCEaSmK6+0faux1tn4yxNjf8qdwv3VbZNSJGVsQZFLsM1TDB8+PLrI2jjzTDjlnvM5ivsZffPNoaEi8ZGd7ic9yx231+9LCgrA/G8RHBS/VYCzjz+Mmp8sxM5Jba2pCebNgx/9yN6/9FK4+fIyJvg+pfJvsfmuU1oKw3NrYc4cuOqqncdHjICvVxq463N46BpYtAauuALuuKNFVSJkRy05w66YXFcHuWY7j1z7Flx+uf257DKYOdOWCwTg1NMJfPRLPrvxKc695DwOODWdNyddz/bHXmb2Yb/jiE/mk1JSYjuHFyzo3h/35JM22YwebWMMtSW+8AI8eOFC5i8ZYWsEHfD54KEnM/n3ooMpHANnnhlmJNhll9msuccerQ6/+koABp6JWeFDUgYAAwB7CV9YtZh35g/h+Z9WMeZ3FzC7+lFYsgSmT2djqWEUa7jnmPmw1172jTBwoE0WxtiggkHbt+V22/s+n63m+Xw2+zc329/G2N9eb+t/qx23JZRYdhwvPwOI/apKnTU9rdtxW0SK2fW/YZExJtoZTKXYnfJ2GIpdobarZXbEOg+YB1BSUhLT9qG0NLjnqSKumPIEz/7ySLLOOMP+w+d2PqGpy9qMXlFRivMsspwJI6gJfBr2sVdfhauvtoni6adtc8bNLx7AOxvHsK5oZkzOv2YNjMouhwMO3X3v7uxse/KbboKLL7btXU8/Deecs6tMXd3OpiXJTCe4bgOBALib6+2HcHEx3Hef7eitqrKbT3/7LZx8Mu4DJ1Hy+iS+TfFzYcEapAHy8oX9DxDWLK5gr1O2wL//HVrm4PNdnUaffAI//7ntG2hvhdv16+0Xsvx8eP99+38iw47ienXmN6ysLLI1gE4SxVsLmvnOwA8pHHNu+4VcLjs9va3iYlizBknZ/WNy9E1n8vyGA1n9j1qGZVzA7GuugYcegpUrWfv1YIbvlwevvdZhbD1JRI3gIvJ9YBHwPeD7wP9E5LtRnvtjYIyIjAptijQHuzxIS/OBc0Ojn6YC1Ynsn2hp9Gi4+hoXh/Ah/xz3K/yHTIeNG2M+S1NCq4CqGNlxLeO0/3lODtSa7LAjnzZtsp9BPh/ceSfcey9IYQF5Uk1V7h4xSWIbNsCwlC32i0t7AXo8dqLAG2/Auefab7jPPmu/hX777c5v0nnFaVSV1hMIgCfo3bXa7oABtvzjj9smrGnT4KKLdp7ilIO3MV3e37mD4CHH5nDHW/vbPguw57v3XnuuY46Bs8+2nX8lJbumRrd0++22SnTUUTBjBuTl2WtVVwe//jVfv7GWPff2wLp1uz+3jfl/28L3Z0cx72HkyLCHR+2dxqOfTWRu6RVs3eMQjn7oLD5nIowdywvP+Dl23941eTHSqb8/AybvqEWISBHwJlEsCGiM8YvIlcBrgBt40BizTEQuCz1+P7AAOB5YDTQAF3T3fLEw66YSDnr1JO754jBOzbidZ0eMIbUg234iNDfbT4Uo9wAwWqOIrXHj7IdcnGbTZmdDTWqh/cQeO7bVY5s2waC8Rt444o/Mnv0zspd+CNOmkffCPVTOesuOa23Td9BVzc3Qv74CittJFGBHMuXk2G/0N98M06fDxx/DSy/BSSfB3/4GwIBiYdv6HPr5we33tt4RMD+/3ZE+Tz3cBGf81Q6/Ar5/diof3NTAX39ZzbmLllI2YF+2XP07ttz2f2w+6Q+sP2A8BQPcfJxyPmO/t4xJk+AI3xv8L+sofHN/Ts2gveEfAfY/0EXh1x/SUPMw9Y++TcO4A3nmGSi5LsDyRXX2i1pbbbYFWLO0nj3+0PmaV121I4fue/QgZs/K48u3x/F+5U/Yb9NP+Walj31n9a5lPiJNFK42TU0VxGCynjFmATYZtDx2f4vbBrgi2vPEUv4HL3ET9v/MoZcu5/n6Yxni8dhq8aWX2v/8jzwCf/0rXHBB1z/0NVHEVkYGfOc7cX35BsJPbKushHx3DS99OoSrfvwVXHMNvP46hR4oM0WwbVvUicLvB09NJRTv136hHcOzAH7xC5sgnn3WJgmw1WVsLt3mzSXDb/AEmyPfv2PECFi0yC4cFXJb3u3cVn0dZ/1uPAMHwsADfsrA42HQQNhvAHz9NVx39yjKzryab0unMfrzSzjX/xBj73yGjP5pGL/wwANQsbmETG4g6/MDyFhlc9ysWW5OPjZ990QRDNp9jJ98Eg49lK2bg+Q1b0H2jtHwsjY++ABGHTyPqwVqLh7M2WefxX/qDyTjo3dImd27RixGmiheFZHXgCdC90+nzQd8XzN7NgwZMpIJh33KWVlP85P6XzDszjvtgy4XPPywrVpPnAjLltmqdgQD+0UTRY8iArg9YZd5aWwEV8BHdWoh+yx5HP7yF8jNpR9QL/2gLPpOdr8fPPXVu/dPtMflsn0EO5pMX3tt59yBAQNgW9owhpRV4fZ3IVG43XDhhbZZKSTjT7/l1hEjYGT4p0ydCpAG6+33wnNrICfnqjAlU+H8PeGY1v93TEqq3bSlBf97H+DZe2946y049FBevnM1Jx5cEbcJNYccsut2To5dwOHBv4/ley/9Bi6/Ny7ndEqniUJEBPgztiP7UOxIpHnGmOfjHFvSmzwZyhuyuOmGszj6riPwu1K5pPluZjz8JrmMZs9Zs+y3rcWL7X/QsjLb3rpjlEK4N7DRRNHjeNxhaxSNjfD+4NPpNyATlveHubsWH5C0FFujiFIgAJ5Ac9f7tTweO5KmxZ7sAwbANxkjCGzYZBNFdkHkr/fAA63vH354l8IJdW+E1yIB7ZCWLtSZPPpddJFtIlu/nh88dwpH3fog539xHQD//lcdDzzZQU0rxkTgwosELvpHws6ZKJ3Wj0LNPy8YY54zxlxnjLlWk8QuLhf85g+prGwexYOvDiHr9lv49Yx3OTLvc8aXvc1xi3/FmsPOtX0PBQX2CT/7mf19ww32f3roP7kJmp2Lu6kexO1pN1Fk5qcjHretcWTuGpqZkpmCd3NF1Kf2+0OJosUHfsTaPGfAANjmGUxg4xY8vqaYbx0bS0cfDdnPP8qySWex7ZWPWXn+7/hq8jn863/DoaEB4/VRXxMgd8peTofaK0TakPaRiCTH7JkkJQJHHAFXXZ/OC2/0Y8XXbhae+zem3HQce7z/CC4Mew6s5TdjHqb8t3+lPn8YPPWUbbf2esEYgm4PLhPQGkVP006NIhgwuLMz7dDL5tbrBg0a7GLzt41Rn9rvD41Q6k6iaGP4cFjbOBD/xq24kzxRXHIJfPQRjL/qSPbcspDv/WwvLr9c7HSCtDRe+fNqxozsWwv3xVOkieJI4L8i8k1ocb6lIvJFPAPr6foVppP7yF388pe2lWnxYjj8+H78fNV5FFFOv8r1yLq1HPaX79sZhC4XAdy4mxpaffNUPYDbg6ndPVEYn9+2qfz853ZoagvTDnPx7/9Ev/Ks3w8e/DFZ7qWoCCp8OQQ2bcXjT+5E4fHAQQfZ1Teys+1mQ+efby93zciJ3P8XP7dc3TtXw3VCpO+uWcBo4CjgJOyM7ZPiFVRvdOCB8Pe/28+FYNAmjssug4UchguDYHiW03CVb7NNVKrHyOwnNFaFWRgwENj1YetuPdt+5uwsPlqSDmvXRnVuvx88ErtJhSY9nWUrPXZuRg9Ya+yTT+zgp1//2t4fOxaWZR+EKd1E/pGJ65/o7SLdCnVduJ94B9dbidjEcd99NmksDy2DeCZP8Gz1DBgzxtkAVZfk9HfZZb7b6mBgQtHwDDYwDLOhNKpz+/3gccUuURQWe7j+0zmcXvJNzF4zntqOB9l7b3i9+iD2SFkPQ4Y4E1QvlPxfGXo5ETsnzFz3Y74YfByPPup0RKqrcvLc1Fbtniikg0QhAsOmDqV8ZXQd2rZGEbvd+375S3jh/q3k3PbTmL1mIk2YALc/UMDUBy6O/zrzfYhuypwsbryRCZdXMyE+C52qOMrOT6HmqzDf6juZEzNwRBpbV9UQzZS7WDc9jRwJIy+aELPXS7SxY+1lnzPH6Uh6F00UyaKw0P6oHienMJWa6jAPdJIososzqdsY7omRi3Wi6OlSUuywZBVb2vSkVJRy8j3UNoZZGr6TRJFVlEl9eXTbqO4c9aRUHGmiUCpK2dlQ49t9SLMJmE4TRV2Yvo2usJ3ZseujUCocTRRKRSknB2r8Yea+dLIcS78cF/W+6CZXaqJQiaCJQqko5eRAbSBj9wc6WY4lKwvqAtEtS69NTyoRNFEoFaVwTU/GdDw8FuxcvHp/DBKFdmarONNEoVSUcnKgJtB6OY5AANx0vG6XrVGEqYl0gTY9qURwJFGISL6IvCEiq0K/88KUGSYi74jIChFZJiJXOxGrUp3JzoZaWm+H6vNBinSeKOoD0a0U7PeDO4YT7pQKx6kaxVzgLWPMGOCt0P22/MCPjTHjgKnAFSKyTwJjVCoiWVmhjYhqanYes4nC33nTUzAzqn3XvV5IdWkfhYovpxLFKcAjoduPALPbFjDGbDbGfBq6XQusAHTxFpV00tOhiQyord15LJJEkZUFdZLd6nldZYKmJ6zdp3o4p95ixcaYzWATAjCgo8IiMhLYH/hfB2UuEZHFIrK4rM0WiUrFkwh23evdahS+zpueyAq7l0XETDAme1Eo1ZG4LeEhIm8CA8M89LMwxzp6nX7As8A1xpia9soZY+YB8wBKSkqiW+Rfqa7yeHavUdBxjSIjAxolI6oaBcGOJ/UpFQtxSxTGmBntPSYiW0VkkDFms4gMAsJuHiwiKdgk8U9jzHNxClWp6IVNFL4Ov+2LgHF7oDaKDXY6WSZEqVhwqulpPnBe6PZ5wIttC4iIAH8HVhhj/pjA2JTqMhOu6YmOm56A3RJMlwUDtmqiVBw5lShuA2aKyCpgZug+IjJYRBaEykwDzgGOEpEloZ/jnQlXqY5lZLporGgzPLaTGgUAbk90fRSBoCYKFXeOLDNujKkAjg5zfBNwfOj2QkB3HlE9woihftaudzEudN8mCm+nNQrj8WBqarv/Rg8E7LArpeJIB9YpFQMjRwqLVuXxTWgHUZ8PUkznNYrcfBc1ayu7f2JtelIJoIlCqRgYNcbDJa+czKmn2vuR9lEUjsiifEX3hnMbA6KJQiWAJgqlYmDKMbkcVrCCQYPs/aYmSDNNndYoCodnUV7a1K1zNjVBmsuvTU8q7jRRKBUDRcPSeXPyjXhCvX7V1dDfXdd5jWKAi/Kmft06Z2MjZHi8WqNQcaeJQqlYqa9n7P8e5fXn6liyBArdVZ3XKAqh3JfTrdM1NUGGSxOFij9NFErFynvv8dNRT3D3r6vZvBmOL/q40xpFXh5U+bpfo0iXZk0UKu4cGR6rVK/00UcUGsNLL9wNt90GJzd2WqPIyoJ6kxXq/e7amk2NjZDhatY+ChV3WqNQKlYOOgj23x+++soOSTKGzpZ2zcyEBsmyn/pd1NgIGdKkNQoVd1qjUCqW0tKgubnTBLHDzhVkGxvtVnld0NQE6aYRMrK6E6lSEdMahVKx1oVl7jMzoZ7MKGoUjdr0pOJOE4VSsXbeefD663B850uTZWVBg8lotY1qpBobISNQZ7fKUyqOtOlJqVi76ir7e+bMTotmZkJ9IAMau54ompogvbkG+vfv8nOV6gqtUSjloJQU8EtK95uemrdrolBxp4lCKYeJx9X9REGjblyk4k4ThVIOMy53txJFUxOku71xiEip1hxJFCKSLyJviMiq0O+8Dsq6ReQzEXk5kTEqlTDdTBR2wp0mChV/TtUo5gJvGWPGAG+F7rfnamBFQqJSygnu7iWKujro5+7685TqKqcSxSnAI6HbjwCzwxUSkaHACcADCYpLqYRzeVwE6ru+1HhVpSEvJYptVJWKkFOJotgYsxkg9HtAO+XuBH4CBDt7QRG5REQWi8jisi5MeFLKadnZhroqX5efV1keIK9/IA4RKdVa3BKFiLwpIl+G+TklwuefCGwzxnwSSXljzDxjTIkxpqSoqCiq2JVKpOxsoba60+9Cu6mv9pOVr7OyVfzFbcKdMWZGe4+JyFYRGWSM2Swig4BtYYpNA04WkeOBdCBHRB4zxpwdp5CVckR2jlBbY7r+RJ8fydU5FCr+nGp6mg+cF7p9HvBi2wLGmBuNMUONMSOBOcDbmiRUb5Sd66a2sutNT/h9OtlOJYRTieI2YKaIrAJmhu4jIoNFZIFDMSnliOwR+dRs2N71J/r8mihUQjiy1pMxpgI4OszxTcBuK6kZY94F3o17YEo5IDtHqPVnduk5wSC2RpGbG5+glGpBZ2Yr5bCcHKj1d23zoYoKKPjqA61RqITQRKGUw/LzocKb3aXnrFsHIxpWaI1CJYQmCqUcVlQEZb6u1Qw+/RRGjs+Gww+PU1RK7aKJQimHFRVBWXN/u8d2hC69FI4erCvbqMTQRKGUwwoLoTyQa/fajtDk/f2MGBh5eaWioYlCKYelpoLPlQa1tRE/pzivWTuyVcJoolAqGbg9EScKYwC/3w6XUioBNFEolQw8kSeK2lrI8jRrolAJo4lCqSTgSXXhq4psyfDSUhjWv0abnlTCaKJQKgnk9w9QtSmyTYjq66GfNGiNQiWMJgqlkkBOvpuaDdURlW1ogExTr4lCJYwmCqWSQHZRBjXrI1sYsLERMgO12vSkEkYThVJJIGdQFrUbayIq29AAmYEarVGohNFEoVQSyBmSTc3WyPooGhogy1etiUIljCYKpZJAdn4Ktc2pEZVtaIBM73ZtelIJ40iiEJF8EXlDRFaFfue1Uy5XRJ4Rka9EZIWIHJzoWJVKhJwcqIlwqfHycsjzbYPsrq04q1R3OVWjmAu8ZYwZA7wVuh/OXcCrxpi9gf0AXQVN9UrZ2VDriyxRrF8Pw9O22kl6SiWAU4niFOCR0O1HgNltC4hIDjAd+DuAMcZrjOnGfpFKJb/8fCj3RtbnsGULDEyrinNESu3iVKIoNsZsBgj9HhCmzB5AGfCQiHwmIg+ISFZ7Lygil4jIYhFZXFZWFp+olYqToUNhY1NBRGX9fkhxBeIckVK7xC1RiMibIvJlmJ9TInwJD3AAcJ8xZn+gnvabqDDGzDPGlBhjSoqKimLwFyiVOLm5sLhmjM0CnTDBILjdCYhKKStujZzGmBntPSYiW0VkkDFms4gMAraFKVYKlBpj/he6/wwdJAqlejIRGN2/HGqzIC/s2A7AblmRhtduYqFUgjjV9DQfOC90+zzgxbYFjDFbgA0iMjZ06GhgeWLCUyrx0tKgYWvHK8hu3AhD+tdBcXGColLKuURxGzBTRFYBM0P3EZHBIrKgRbmrgH+KyBfAJOC3CY9UqQQ5dq+1zJ/fcZn162F4v0oYEK5bT6n4cGR8nTGmAltDaHt8E3B8i/tLgJIEhqaUY6buVcnTXwpzOiizYgWMytiiNQqVUDozW6kkMWQIlH5R2WGH9jvvwDEDv9BEoRJKE4VSSaJgTD7ln5fCunVhHzcGar9YQ87bL8CIEQmOTvVlmiiUShIyZTIGgerd96UIBuGRR2DCyn/BW2/BqFEORKj6Kl0DQKlkMWQIEw5dx49+VcShZ9jkEAjY3/+e72PkKOGWsU/CsT8Cl37HU4mjiUKpJPL7i1bx1jc+NjYNw+0G13PP4Bkzmmu3/ZPJz/yfLfTVp84GqfocTRRKJZO8PI4euhKO3xfuugue+zVcdBHwtdORqT5ME4VSySQvz46BvfJKeOopOPlkWN5inumbbzoXm+qzNFEolUzy8mDuXCgpgeOOs0NlP/xw1+NHHulcbKrP0h4xpZLJiBFw7bWwaJGtTRx+ONTV7XpcO7GVA7RGoVQyyc6GP/7R3v7hD3cdDwRg61ZnYlJ9nn49UaoncLlg0CCno1B9lCYKpZRSHdJEoZRSqkOaKJRSSnVIE4VSSqkOOZIoRCRfRN4QkVWh32H3fhSRa0VkWWiv7SdEJD3RsSqlVF/nVI1iLvCWMWYM8BZh9sIWkSHAj4ASY8x4wA0d7umilFIqDpxKFKcAj4RuPwLMbqecB8gQEQ+QCWxKQGxKKaVacCpRFBtjNgOEfu+2AbAxZiNwB7Ae2AxUG2NeT2iUSiml4jczW0TeBAaGeehnET4/D1vzGAVsB/4lImcbYx5rp/wlwCWhu3UisrLrUcdVIVDudBBJRK9Ha3o9WtPr0Voirke72ybGLVEYY2a095iIbBWRQcaYzSIyCNgWptgMYI0xpiz0nOeAQ4CwicIYMw+YF33k8SEii40xJU7HkSz0erSm16M1vR6tOX09nGp6mg+cF7p9HvBimDLrgakikikiAhwNrEhQfEopVVlQTAAABJxJREFUpUKcShS3ATNFZBUwM3QfERksIgsAjDH/A54BPgWWhmJN2hqDUkr1Vo6sHmuMqcDWENoe3wQc3+L+zcDNCQwtnjTJtabXozW9Hq3p9WjN0eshxhgnz6+UUirJ6RIeSimlOqSJQimlVIc0UcSQiLhF5DMReTl0/xYR2SgiS0I/x7coe6OIrBaRlSJyrHNRx4eIrBWRpaG/e3HoWLtrfPXR69GX3x+5IvKMiHwlIitE5OC+/P6Adq9JcrxHjDH6E6Mf4DrgceDl0P1bgP8Xptw+wOdAGnZC4TeA2+n4Y3wt1gKFbY7dDswN3Z4L/L6PX4++/P54BLgodDsVyO3L748OrklSvEe0RhEjIjIUOAF4IILipwBPGmOajTFrgNXAlHjGlyTaW+Orr16P9vTq6yEiOcB04O8AxhivMWY7ffj90cE1aU9Cr4kmiti5E/gJEGxz/EoR+UJEHmxRlR4CbGhRpjR0rDcxwOsi8kloeRVof42vvno9oG++P/YAyoCHQk21D4hIFn37/dHeNYEkeI9ooogBETkR2GaM+aTNQ/cBo4FJ2IUN/2/HU8K8TG8bpzzNGHMAMAu4QkSmd1C2r16Pvvr+8AAHAPcZY/YH6gmz1UALvf16QPvXJCneI5ooYmMacLKIrAWeBI4SkceMMVuNMQFjTBD4G7uqhqXAsBbPH0ovW0Ld2MmTGGO2Ac9j//atobW9aLPGV5+8Hn34/VEKlBq7+gLYFRgOoA+/P2jnmiTLe0QTRQwYY240xgw1xozEbq70tjHm7B1v+pBTgS9Dt+cDc0QkTURGAWOARQkNOo5EJEtEsnfcBo7B/u3trfHVJ69HX31/GGO2ABtEZGzo0NHAcvro+wPavybJ8h5xZAmPPuR2EZmErRKuBS4FMMYsE5Gnsf85/MAVxpiAY1HGXjHwvF3LEQ/wuDHmVRH5GHhaRC7ELvr4PejT1+MfffT9AXAV8E8RSQW+BS7AfnHti++PHcJdkz8nw3tEl/BQSinVIW16Ukop1SFNFEoppTqkiUIppVSHNFEopZTqkCYKpZRSHdJEoVSURKSgxeqeW9qs9pnaopyIyNuhdX3ae60nRWRMYiJXKjI6PFapGBKRW4A6Y8wdYR47AZhhjLm2g+cfDpxtjLk4flEq1TVao1Aqcc4iNNs4NFv7FRH5XES+FJHTQ2XeB2aIiE6GVUlDE4VSiTMN2LFw5HHAJmPMfsaY/9/e3aNUDAVhGH7HytpGuAuwUiysBRv3YWvpBmxFXIJYKG5BcB9iceWuwEL8g1sojkUiBAyD1YnF+1QpppjuY3JOMpvALUD/T58FsD1Ni9JvBoXUzlpmvvXPd3STw2lE7Gbmy6DuEZi1b08aZ1BI7XxGxApAZj4AO3SBcRIRx4O6VWA5QX/SKN+DSu3M6RbULCJiBjxl5nVEvAMHg7oN4H6C/qRRBoXUzg2wR3cGsQWcRcQX8AEcAkTEOrD82fQm/Qdej5Ua6XcLXGXmflFzBLxm5kW7zqSaZxRSI/2UcF59cAc8A5eNWpL+xIlCklRyopAklQwKSVLJoJAklQwKSVLJoJAklb4BKeErxbjLM9cAAAAASUVORK5CYII=\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"roll\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"roll (rad)\")\n",
    "figure1 = ax.plot(ref_time[a:a_], roll[a:a_],label='roll', c='red', lw=0.7)\n",
    "figure2 = ax.plot(ref_time_sp[b:b_], roll_sp[b:b_],label='roll_sp', c='blue', lw=0.7)\n",
    "\n",
    "plt.legend(loc='upper right')\n",
    "\n",
    "plt.savefig('D:/landing_roll.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 32,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"pitch\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"pitch (rad)\")\n",
    "figure1 = ax.plot(ref_time[a:a_], pitch[a:a_],label='pitch', c='red', lw=0.7)\n",
    "figure2 = ax.plot(ref_time_sp[b:b_], pitch_sp[b:b_],label='pitch_sp', c='blue', lw=0.7)\n",
    "\n",
    "plt.legend(loc='upper right')\n",
    "\n",
    "plt.savefig('D:/landing_pitch.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 33,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"yaw\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"yaw (rad)\")\n",
    "figure1 = ax.plot(ref_time[a:a_], yaw[a:a_],label='yaw', c='red', lw=2)\n",
    "figure2 = ax.plot(ref_time_sp[b:b_], yaw_sp[b:b_],label='yaw_sp', c='blue', lw=0.7)\n",
    "\n",
    "plt.legend(loc='upper left')\n",
    "\n",
    "plt.savefig('D:/landing_yaw.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.0"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}
